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1		-[[image:LSS-P-A-Sample.png||alt="SESV2-LSS-ARTICULATED-ARM.png" width="350"]]
	1	+[[image:SESV2-LSS-ARTICULATED-ARM.png||width="350"]]
2	2
3		-[[[[image:lynxmotion-wiki-attachments.WebHome@ComingSoon.jpg||alt="LSS - Articulated Robotic Arm.jpg"]]>>https://www.robotshop.com/en/lynxmotion-smart-servos-articulated-arm.html||rel="noopener noreferrer" target="_blank"]]
	3	+[[[[image:lynxmotion-wiki-attachments.WebHome@BuyOnline.jpg||alt="LSS - Articulated Robotic Arm.jpg"]]>>https://www.robotshop.com/en/lynxmotion-smart-servos-articulated-arm.html||rel="noopener noreferrer" target="_blank"]]
4	4
5	5	**Table of Contents**
6	6
7	7	{{toc/}}
8	8
9		-= Features =
	9	+= Description =
10	10
11		-* Modular, customizable & reconfigurable semi-professional arm
12		-* Easy to use with human readable communication protocol
13		-* High accuracy and competitive payload capacity
14		-* 550mm horizontal extension
15		-* 2Kg payload and ±0.1 mm accuracy
16		-* Gripper sold separately
17		-
	11	+Lynxmotion’s 6th generation articulated robotic arm is intended as a hobby / scale version of an industrial robotic arm and is designed around the fully configurable Lynxmotion Smart Servo motors and Lynxmotion Servo Erector Set (SES v2) modular construction system.
18	18
19		-= Description =
	13	+(% style="width:600px" %)
	14	+|(% style="text-align:center; width:300px" %)**With Shells**|(% style="text-align:center; width:300px" %)**Without Shells**
	15	+|(% colspan="2" style="width:350px" %){{lightbox image="SESV2-LSS-ARTICULATED-ARM-FaceToFace.png"/}}
20	20
21		-The **Lynxmotion SES-PRO 550mm 5Dof Modular Robotic Arm Kit** offers a payload of 2Kg at full extension with an accuracy of ±0.1 mm. Unlike purpose-built arms, this is designed to be modular and reconfigurable to suit the user’s application. Additional degrees of freedom can be added, and existing degrees of freedom can be reconfigured or removed. The design ensures there are no evident pinch points.
	17	+This versatile setup facilitates customization and expansion for applications through the use of additional brackets, electronics, sensors and more, and adding additional degrees of freedom or changing the gripper is straightforward.
22	22
	19	+Although well suited for use on a desk for development and experimentation, the arm can be easily fitted on a mobile robot and powered using a 3S (11.1V) LiPo battery (sold separately) with XT60 connector. The included LSS Adapter electronics board makes connecting to an Arduino shield compatible board, Raspberry Pi, XBee or other serial device easy.
23	23
24		-= Specifications =
	21	+{{lightbox image="SESV2-LSS-ARTICULATED-ARM-A4WD.png" title="LSS Articulated Arm on A4WD Platform" width="400"/}}
25	25
26		-**General**
	23	+CAD design files, as well as examples using Arduino and Python are available so that students and hobbyists can integrate the arm into their projects. The graphical user interface LSS FlowArm, created using FlowBotics Studio, makes recording and playing back sequences effortless.
27	27
28		-* Degrees of Freedom (DoF): 5
29		-* Payload: 2Kg (no gripper)
30		-* Max speed (cartesian):
31		-* Collision detection: No
32		-* ROS 2: Coming soon
	25	+{{lightbox image="SESV2-LSS-ARTICULATED-ARM-FlowArm.jpg" title="LSS FlowArm Software" width="400"/}}
33	33
34		-**Mechanical**
	27	+Wiki page for [[doc:ses-software.lss-flowarm.WebHome]]
35	35
36		-* Horizontal reach:
37		-* Vertical reach:
38		-* Joint 1: ±360°
39		-* Joint 2: ±360°
40		-* Joint 3: ±360°
41		-* Joint 4: ±360°
42		-* Joint 5: ±360°
43		-* Joint 6: ±360°
	29	+The Lynxmotion smart servo motors were designed and optimized for articulated robotic joints and ease of use. The custom LSS communication protocol is human readable, uses full duplex (dedicated Tx and Rx lines) and selectable baud rates. Optimize the motion by changing the properties of each servo; anything from setting a maximum speed or angular range to the angular acceleration, holding stiffness and more. Each servo can be queried for a wide variety of real-time values or configured settings, including sensor feedback from the absolute encoder (position, speed and more), current, voltage and temperature.
44	44
45		-**Electrical**
	31	+= Features =
46	46
47		-* Input voltage: 30V (nominal)
48		-* Max current:
49		-* Wall adapter: 120V - 220V
50		-* Battery power alternative: 8 cell (8S)
51		-* Wiring: external
	33	+* 5x fully configurable modular smart servo motors
	34	+* Modular aluminum brackets, carbon fiber tubing and more
	35	+* V-style gripper opens from 0 to 180 degrees
	36	+* Compatible with Lynxmotion Servo Erector Set electronics
	37	+* Create sequences using handheld teach mode, coordinates, virtual arm
	38	+* Built-in safety features (over current, temperature, voltage)
	39	+* Easy to understand and human readable LSS communication protocol
52	52
53		-**Communication**
	41	+= Specifications =
54	54
55		-* Communication method: CAN Bus
56		-* Communication protocol: LSS-P (human readable)
57		-* Motor: NEMA 17 & 24
58		-* Gearing: Strain wave (aka “Harmonic drive”)
59		-* Safety: Emergency stop button & software stop
60		-* Joint angle: 360 (restricted by external cables)
	43	+* Axes: 4 degrees of freedom + 1 (gripper)
	44	+* Max Horizontal Reach: 15.910" / 404.12mm
	45	+* Max Vertical Reach: 19.899" / 505.44mm
	46	+* Payload: 100g (max reach)*
	47	+* Power Supply In: 110V to 240V AC 50/60Hz AC (US type A plug)
	48	+* Power Supply Out: 12V, 6A DC with XT60 connector
	49	+* Weight: 1.43 pounds / 0.650 Kg
61	61
	51	+~* Note that if holding 100g at full reach, the shoulder and elbow servos will heat up rapidly. Payload increases closer to the base.
	52	+
62	62	= Quickstart Guide / Assembly =
63	63
64		-Coming Soon
	55	+{{include reference="ses-v2-arms.lss-4dof-arm.4dof-arm-quickstart.WebHome" context="NEW"/}}
65	65
	57	+= Actuators =
	58	+
	59	+(% style="width:350px" %)
	60	+|**Location**|**Type**|**Static Torque**|**Max Speed**
	61	+|Base|ST1|14Kg-cm|360° /s
	62	+|Shoulder|HT1|29Kg-cm|360° /s
	63	+|Elbow|HT1|29Kg-cm|360° /s
	64	+|Wrist|ST1|14Kg-cm|360° /s
	65	+|Gripper|ST1|14Kg-cm|360° /s
	66	+|(% colspan="4" %)(((
	67	+**Note that when operated at lower voltages, torque and speed are reduced.**
	68	+)))
	69	+
66	66	= Dimensions =
67	67
68		-Coming Soon
	72	+{{lightbox image="SESV2-LSS-ARTICULATED-ARM-Enveloppe-Rev2.png" width="400"/}}
69	69
70	70	= What's Included =
71	71
72	72	(% style="max-width:750px" %)
73		-|(% colspan="6" %)**[[doc:servo-erector-set-system.ses-servos.pro-lynxmotion-smart-servo.WebHome]]**
74		-|(% style="width:125px" %)2x LSS-P-L1|(% style="width:125px" %)3x LSS-P-S1|(% style="width:125px" %)4x HUB-24|(% style="width:125px" %)1x CF-70x67-118|(% style="width:125px" %)1x CF-70x67-143|1x SES-P-A-B-S
75		-|LSS-PRO Lite|LSS-PRO Standard|70mm Tube Clamp|118mm Carbon Fiber Tube|143mm Carbon Fiber Tube|PRO Base for LSS-P Standard or Lite
76		-|[[image:servo-erector-set-system.ses-servos.pro-lynxmotion-smart-servo.WebHome@LSS-P-L1.png]]|[[image:servo-erector-set-system.ses-servos.pro-lynxmotion-smart-servo.WebHome@LSS-P-S1.png]]| | | |
77		-
78		-(% style="max-width:750px" %)
79		-|(% colspan="6" %)**[[Tubing & Hubs>>doc:servo-erector-set-system.ses-mechanics.ses-tubing-hubs.WebHome]]**
80		-|(% style="width:125px" %)4x HUB-24|(% style="width:125px" %)1x CF-70x67-118|(% style="width:125px" %)1x CF-70x67-143|(% style="width:125px" %)1x SES-P-A-B-S|(% style="width:125px" %) |
81		-|70mm Tube Clamp|118mm Carbon Fiber Tube|143mm Carbon Fiber Tube|PRO Base for LSS-P Standard or Lite| |
82		-| | | | | |
83		-
84		-(% style="max-width:750px" %)
85		-|(% colspan="6" %)**[[Tubing & Hubs>>doc:servo-erector-set-system.ses-mechanics.WebHome]]**
86		-|(% style="width:125px" %)1x SES-P-A-B-S|(% style="width:125px" %) |(% style="width:125px" %) |(% style="width:125px" %) |(% style="width:125px" %) |
87		-|PRO Base for LSS-P Standard or Lite| | | | |
88		-| | | | | |
	77	+|(% colspan="6" %)**[[doc:servo-erector-set-system.ses-servos.ses-lynxmotion-smart-servo.WebHome]]**
	78	+|3x LSS-ST1|2x LSS-HT1| | | |
	79	+|LSS Standard|LSS High-Torque| | | |
	80	+|[[image:servo-erector-set-system.ses-servos.ses-lynxmotion-smart-servo.WebHome@LSS-ST1-HORNS.PNG||alt="LSS-ST1.png"]]|[[image:servo-erector-set-system.ses-servos.ses-lynxmotion-smart-servo.WebHome@LSS-HT1-HORNS.PNG||alt="LSS-HT1.png"]]| | | |
	81	+|(% colspan="6" %)**[[doc:servo-erector-set-system.ses-electronics.WebHome]]**
	82	+|1x LSS-ADA|2x LSS-C-300-S|12x CC-01|2x AHS-EC|1x 12V-XT60|1x USBC-02
	83	+|LSS Adapter|300mm Cable|Cable Clip|Electronic Clip|12V w/ XT60|USB to Mini B
	84	+|[[image:servo-erector-set-system.ses-electronics.ses-modules.lss-adapter-board.WebHome@LSS-ADA.png]]|[[image:servo-erector-set-system.ses-electronics.ses-wiring.WebHome@LSS-C-100.png]]|[[image:servo-erector-set-system.ses-electronics.ses-wiring.WebHome@CC-01.PNG]]|[[image:servo-erector-set-system.ses-mechanics.ses-miscellaneous.WebHome@AHS-EC.PNG]]|[[image:servo-erector-set-system.ses-electronics.ses-wall-adapters.WebHome@BX-12006000-XT60.PNG]]|[[image:servo-erector-set-system.ses-electronics.ses-wiring.WebHome@USBC-02.PNG]]
	85	+|(% colspan="6" %)**[[doc:servo-erector-set-system.ses-mechanics.ses-brackets.WebHome]]**
	86	+|3x ASB-28|3x ASB-39|1x ASB-30|2x ASB-35|2x ASB-36|1x ASB-42
	87	+|LSS Single Wide|Short C V2|LSS Double Wide|Gripper Main|Gripper Secondary|Gripper Foam
	88	+|[[image:servo-erector-set-system.ses-mechanics.ses-brackets.WebHome@ASB-28.png]]|[[image:servo-erector-set-system.ses-mechanics.ses-brackets.WebHome@ASB-39.png]]|[[image:servo-erector-set-system.ses-mechanics.ses-brackets.WebHome@ASB-30.png]]|[[image:servo-erector-set-system.ses-mechanics.ses-brackets.WebHome@ASB-35.png]]|[[image:servo-erector-set-system.ses-mechanics.ses-brackets.WebHome@ASB-36.png]]|[[image:servo-erector-set-system.ses-mechanics.ses-brackets.WebHome@ASB-42.png]]
	89	+|(% colspan="6" %)**[[SES - Gearing & Horns>>doc:servo-erector-set-system.ses-mechanics.ses-gearing-horns.WebHome]]**
	90	+|2x SES-32T| | | | |
	91	+|32T Gear for Horn| | | | |
	92	+|[[image:servo-erector-set-system.ses-mechanics.ses-gearing-horns.WebHome@SES-32T.png]]| | | | |
	93	+|(% colspan="6" %)**[[SES - Tubing & Hubs>>doc:servo-erector-set-system.ses-mechanics.ses-tubing-hubs.WebHome]]**
	94	+|4x HUB-22|2x CF-16x14-75| | | |
	95	+|16mm SES Clamp|75mm Carbon Tube| | | |
	96	+|[[image:servo-erector-set-system.ses-mechanics.ses-tubing-hubs.WebHome@HUB-22.PNG]]|[[image:servo-erector-set-system.ses-mechanics.ses-tubing-hubs.WebHome@CF-16x14-75.png]]| | | |
	97	+|(% colspan="6" %)**[[SES - Mechanics>>doc:servo-erector-set-system.ses-mechanics.WebHome]]**
	98	+|58x PHS-02|19x PHS-16|6x FHS-01|5x BB-05|5x DP-01|1x BB-03
	99	+|2-56 x 1/4"|M3 x 10mm|Flat M3 x 8mm|Bearing Beeds|Dowel Pin|Bearing 8x3mm
	100	+|[[image:servo-erector-set-system.ses-mechanics.ses-screws.WebHome@PHS-02.png]]|[[image:servo-erector-set-system.ses-mechanics.ses-screws.WebHome@PHS-16.png]]|[[image:servo-erector-set-system.ses-mechanics.ses-screws.WebHome@FHS-01.png]]|[[image:servo-erector-set-system.ses-mechanics.ses-bearings.WebHome@BB-05.png]]|[[image:servo-erector-set-system.ses-mechanics.ses-bearings.WebHome@DP-01.png]]|[[image:servo-erector-set-system.ses-mechanics.ses-bearings.WebHome@BB-03.png]]
	101	+|(% colspan="6" %)**[[doc:servo-erector-set-system.ses-mechanics.ses-standoffs.WebHome]]**
	102	+|5x AHS-19|4x AHS-20| | | |
	103	+|M3 x 40mm|M3 x 18mm| | | |
	104	+|[[image:servo-erector-set-system.ses-mechanics.ses-standoffs.WebHome@AHS-19.png||alt="PHS-02.png"]]|[[image:servo-erector-set-system.ses-mechanics.ses-standoffs.WebHome@AHS-20.png||alt="PHS-16.png"]]| | | |
	105	+|(% colspan="6" %)**[[Miscellaneous>>path:/info/wiki/lynxmotion/view/servo-erector-set-system/ses-mechanics/ses-miscellaneous/]]**
	106	+|WBSF-2|WBTL-1| | | |
	107	+|Silicon Grease|Thread Lock| | | |
	108	+|[[image:servo-erector-set-system.ses-mechanics.ses-miscellaneous.WebHome@WBSF-2.PNG]]|[[image:servo-erector-set-system.ses-mechanics.ses-miscellaneous.WebHome@WBTL-1.PNG||alt="PHS-02.png"]]| | | |
	109	+|(% colspan="6" style="width:125px" %)**[[doc:ses-v2-arms.lss-base-rotate.lss-base-rotate-g10-parts.WebHome]]**
	110	+|(% style="width:125px" %)1x - LSS-BR-T|(% style="width:125px" %)1x - LSS-BR-M1|(% style="width:125px" %)1x - LSS-BR-M2|(% style="width:125px" %)1x - LSS-BR-B|(% style="width:125px" %) |(% style="width:125px" %)
	111	+|(% style="width:125px" %)Top Plate|(% style="width:125px" %)Middle Plate 1|(% style="width:125px" %)Middle Plate 2 |(% style="width:125px" %)Bottom Plate|(% style="width:125px" %) |(% style="width:125px" %)
	112	+|[[image:ses-v2-arms.lss-base-rotate.lss-base-rotate-g10-parts.WebHome@LSS-BR-KT-G10-Top.PNG]]|[[image:ses-v2-arms.lss-base-rotate.lss-base-rotate-g10-parts.WebHome@LSS-BR-KT-G10-Middle-01.PNG]]|[[image:ses-v2-arms.lss-base-rotate.lss-base-rotate-g10-parts.WebHome@LSS-BR-KT-G10-Middle-02.PNG]]|[[image:ses-v2-arms.lss-base-rotate.lss-base-rotate-g10-parts.WebHome@LSS-BR-KT-G10-Bottom.PNG]]| |

LSS-P-A-Sample.png

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